CN101782639A - Method, device and system for calibrating positioning device - Google Patents

Abstract

The embodiment of the invention provides a technical scheme for calibrating a positioning device and a technical scheme for representing an attention area in a space, in particular to a system. The system comprises a tag, a positioning device and a server, wherein the tag can transmit range signals and is placed at a point used as a space characteristic point in the space; the positioning device is arranged in the space and is configured to obtain the relative coordinate of the space characteristic point relative to the positioning device according to the range signals coming from the tag; and the server is configured to determine the position parameters of the positioning device in the space according to the relative coordinate so as to calibrate the positioning device. By adopting the system, the positioning device can be calibrated automatically, rapidly and accurately.

Description

Be used for method, apparatus and system to calibrating positioning device

Technical field

The present invention relates to field of locating technology, be used for the method, apparatus and system of calibrating positioning device and a kind of method, apparatus and system that are used to characterize the region-of-interest in space in particular to a kind of.

Background technology

Thereby positional information is a kind of geographical relationship that can be used to extract between user and the environment further understand and know user behavior basically hereinafter.The feasible system that designs and implemented out to be used to provide positional information of the importance of orientation aware application and prospect.At present, developed some high precision indoor locating systems (Ha-IPS:High Accuracy IndoorPositioning System), be used for personnel and property being carried out real-time accurate tracking in the different application occasion.These application scenarios can comprise multiple environment, for example office, health care facility, colliery, subway, intelligent building and restaurant or the like.

At present, these Ha-IPS are normally based on ultrasound wave or ultra-broadband radio.Their common trait is to provide centimetre-sized other bearing accuracy.In some application scenarios of this type of Ha-IPS, need in relevant environment, lay and demarcate some positioning equipments and monitor the position of moving target in specific areas of interest (AOI:Areas of Interest).Usually, positioning system, for example Ha-IPS provides some specific location-based services thereby can carry out real-time follow-up to the position of these moving targets.For example, in office environment, when laying the positioning system of Ha-IPS for example, it can track terminal or employee's position.Thus, can design location-based access rule, so that define specific " safety zone ".For example, only within this safety zone, just allow visit, and in case exceed this safety zone or be in outside this safety zone, then forbid any visit this confidential information to confidential information.More than said safety zone can be a room, a part of perform region, even can be a desk.

Develop multiple Ha-IPS up to now, be used to provide the geographical relationship between user and the environment.In these Ha-IPS, location and geographical relationship deterministic process can be reduced following three phases:

1.Ha-IPS the stage is set.This stage generally comprises following steps:

1) position of reference point is demarcated.The position of reference point is meant the position of beacon or positioning equipment.When calculating the position of impact point, must know the position of reference point or positioning equipment in advance and with these positional informations as the calculating benchmark in the location algorithm.

2) size in configuration baseline space.Reference space is meant the space that target moves therein.Reference space for example can be room, office or the like.In order to know the geographical relationship between target and the environment, must know the size of reference space.

3) characterize region-of-interest.Region-of-interest is meant the geographic area that the user has characterized for specific application demand (for example security purpose).Region-of-interest is arranged in reference space.For example, in the application of " safety desktop ", this desktop is defined as region-of-interest.Only in this region-of-interest, just allow visit, and in case exceed this region-of-interest or be in outside this region-of-interest, then forbid any visit this confidential information to confidential information.

At Ha-IPS be set the stage,, therefore need to demarcate sufficiently accurate because the error in the reference point demarcation will be transplanted in the target localization processing.In addition, because generally positioning equipment generally is laid in the roof, so special hope can be with less this calibration process that manually realizes.In addition, usually need be a lot of artificial owing to measure actual environment, therefore especially need a kind of accurate, quick and automatic reference space collocation method.

2.Ha-IPS online positioning stage.In this stage, calculate the real time position of impact point according to the distance of the coordinate of the reference point of being demarcated and measured target.

3. geographical relationship deduction phase.In this stage, the relation of target and reference space and region-of-interest is inferred in the real time position of the impact point that calculates according to superincumbent subordinate phase and the definition of reference space and region-of-interest (AOI).In this process, region-of-interest normally characterizes manually, and this has related to the effort of a lot of measurements and record aspect.

As can be seen, the common defects of existing Ha-IPS is that their configuration, demarcation and sign etc. all need a large amount of human efforts.Therefore, the use of existing Ha-IPS is also inconvenient, does not also meet user-friendly needs.

Like this, this area need provide a kind of technical scheme that positioning equipment is configured automatically and demarcates especially, also needs a kind of automatic region-of-interest to the space to carry out the characterization technique scheme especially.

Summary of the invention

One of purpose of the present invention provides a kind of technical scheme that automatically positioning equipment is configured and demarcates.

Another object of the present invention provides the technical scheme of the region-of-interest in a kind of automatic sign space.

According to a first aspect of the invention, provide a kind of system, this system can comprise: can launch the label of distance measuring signal, be placed in the space location point place as space characteristics point; Be arranged in the positioning equipment in space, be configured to obtain the relative coordinate of space characteristics point with respect to positioning equipment according to distance measuring signal from label; And server, be configured to determine the location parameter of positioning equipment in the space according to relative coordinate, thus calibrating and positioning equipment.

According to a second aspect of the invention, provide a kind of system, this system can comprise: can launch the label of distance measuring signal, be positioned over the location point place in the space; First positioning equipment of having demarcated is configured to obtain the absolute coordinates of location point in the space according to the distance measuring signal from label; Second positioning equipment is configured to obtain the relative coordinate of location point with respect to second positioning equipment according to the distance measuring signal from label; And server, be configured to determine the location parameter of second positioning equipment in the space, thereby demarcate second positioning equipment that wherein location point is in first positioning equipment and second positioning equipment overlapping covered according to absolute coordinates and relative coordinate.

According to third aspect present invention, a kind of system is provided, this system can comprise: can launch the label of distance measuring signal, be placed on the region-of-interest unique point place of the region-of-interest that can characterize in the space; Positioning equipment in the space is configured to according to the location parameter that obtains the region-of-interest unique point from the distance measuring signal of label; And server, be configured to characterize region-of-interest according to the location parameter of region-of-interest unique point.

According to fourth aspect present invention, a kind of method that is used for the calibrating positioning device in space is provided, wherein, the location point in this space is selected as the space characteristics point.This method can comprise: receive the relative coordinate of space characteristics point with respect to positioning equipment; And determine the location parameter of positioning equipment in the space, thereby calibrating and positioning equipment according to relative coordinate.

According to fifth aspect present invention, provide a kind of method that is used for calibrating positioning device.This method can comprise: receiving position point in the space absolute coordinates and location point with respect to the relative coordinate of positioning equipment; And determine the location parameter of positioning equipment in described space, thereby calibrating and positioning equipment according to absolute coordinates and relative coordinate.

According to sixth aspect present invention, provide a kind of method that is used for characterizing the region-of-interest in space.This method can comprise: reception can characterize the location parameter of the region-of-interest unique point of region-of-interest, and wherein said location parameter is to utilize the positioning equipment that is arranged in the space to obtain; And, characterize described region-of-interest according to location parameter.

According to seventh aspect present invention, a kind of equipment that is used for the calibrating positioning device that is arranged in the space is provided, wherein, the location point in this space is selected as the space characteristics point.This equipment can comprise: receiving trap is used to receive the relative coordinate of space characteristics point with respect to positioning equipment self; And definite device, thereby be used for determining the location parameter calibrating and positioning equipment of positioning equipment in the space according to relative coordinate.

According to eighth aspect present invention, provide a kind of equipment that is used for calibrating positioning device.This equipment can comprise: receiving trap is used for the receiving position point in the absolute coordinates in space and the location point relative coordinate with respect to positioning equipment; And definite device, be used for determining the location parameter of positioning equipment in the space according to absolute coordinates and relative coordinate, thus calibrating and positioning equipment.

According to ninth aspect present invention, provide a kind of equipment that is used for characterizing the region-of-interest in space.This equipment can comprise: receiving trap, be used to receive the location parameter of the region-of-interest unique point that can characterize described region-of-interest, and wherein said location parameter is to utilize the positioning equipment that is arranged in the space to obtain; And characterization apparatus, be used for characterizing described region-of-interest according to location parameter.

The beneficial effect that embodiments of the present invention provide is: in the process to calibrating positioning device and setting, reduce even need not all places parameter and size are carried out manual measurement, thereby save great deal of labor, improved work efficiency, and improved bearing accuracy.In addition, according to the embodiment of the present invention, can realize characterizing automatically the region-of-interest in the space.

Description of drawings

By below in conjunction with the description of the drawings, and along with understanding more comprehensively to embodiment of the present invention, other purposes of the present invention and effect will become clear more and easy to understand, wherein:

The synoptic diagram in the enforcement space of the present invention that it is example that Fig. 1 shows with a room;

Fig. 2 shows the synoptic diagram according to the positioning equipment of an embodiment of the invention;

Fig. 3 shows the block diagram according to the system of an embodiment of the invention;

Fig. 4 shows the schematic three dimensional views according to the reference space of an embodiment of the invention;

Fig. 5 shows the simplification X-Y scheme according to the reference space of an embodiment of the invention;

Fig. 6 shows the block diagram according to the equipment of an embodiment of the invention;

Fig. 7 show according to another implementation of the invention the block diagram of system;

Fig. 8 show according to an embodiment of the invention be used for demarcate the space synoptic diagram of the method for another positioning equipment according to the positioning equipment demarcated;

Fig. 9 shows the block diagram according to the equipment of another embodiment of the present invention;

Figure 10 show according to another implementation of the invention the block diagram of system;

Figure 11 shows the synoptic diagram of method that is used to characterize the polygon region-of-interest according to an embodiment of the invention;

Figure 12 shows the synoptic diagram of method that is used to characterize circular region-of-interest according to an embodiment of the invention;

Figure 13 shows the synoptic diagram of method that is used to characterize oval region-of-interest according to an embodiment of the invention;

Figure 14 shows the synoptic diagram according to the method for the different circle combination of two radiuses of sign of an embodiment of the invention;

Figure 15 a and Figure 15 b show the synoptic diagram according to the process of dividing into groups of an embodiment of the invention;

The characteristic area with non-regular shape that Figure 16 shows according to an embodiment of the invention fits to a tetragonal example;

Figure 17 shows the block diagram of equipment according to another implementation of the invention;

Figure 18 show according to an embodiment of the invention the process flow diagram of method;

Figure 19 shows the process flow diagram of method according to another implementation of the invention; And

Figure 20 shows the process flow diagram of method according to another implementation of the invention.

Embodiment

At first, in conjunction with Fig. 1 and 2, employed various terms in embodiment of the present invention are done with brief description.

1. space.Space according to embodiment of the present invention is meant the space that target moves therein.For example room, office, meeting room or the like.Fig. 1 shows with the room synoptic diagram of a reference space 10 that is example.Should be appreciated that embodiment of the present invention is not limited to tetragonal room shown in Figure 1, and can be any shape.Usually in order to know the position of target in the space, must know the size in space.According to an embodiment of the invention, a kind of technical scheme that is used for the size in definite space is provided, this will be described in detail hereinafter.

2. space characteristics point.The space characteristics point is the location point that is used for determining the space.For example, as shown in Figure 1 be in the space 10 of example with the room, the space characteristics point can be a corner of the room location point 11,12 and 13.In principle, can select any in this space, as long as can determine this space as the space characteristics point.Should be appreciated that when the room be other polygons, for example during hexagon, can adopt polygonal summit is unique point.If when to be other irregularly shaped in the room, then can use at least three points on the room periphery to simulate a polygon, thereby can treat the room of other shapes as treating the polygon room.

3. positioning equipment (POD:Positioning on One Device).According to the positioning equipment of embodiment of the present invention is the equipment of coordinate that is used for determining the location point in space.Figure 2 shows that an example of the positioning equipment that embodiments of the present invention adopt.As shown in Figure 2, the positioning equipment that embodiments of the present invention adopted is a kind of sensor array with a plurality of leaf nodes.The quantity of leaf point node is two at least, that is to say that positioning equipment comprises at least two leaf node sensors and a sensor that mediates.The foliage leaf node is many more, and then bearing accuracy is also high more.Positioning equipment has 6 leaf nodes shown in figure 2.In concrete the application, as shown in Figure 1, positioning equipment 14 is disposed in the top in space 10 usually, and it can launch the target location point of distance measuring signal in the space 10, perhaps receives the distance measuring signal from the target location point in the space 10.

In embodiments of the present invention, only use the receiving function of positioning equipment.Positioning equipment itself can have computing function, is used for carrying out correlation computations according to the distance measuring signal that receives.Perhaps, positioning equipment can be connected to long-range server or dedicated computing equipment by wired or wireless mode, thereby carries out the correlation computations based on distance measuring signal at remote server or dedicated computing equipment place.Usually can utilize traditional triangle location or coordinate transformation method to obtain the coordinate of target location point based on positioning equipment from the distance measuring signal that target location point receives in the space.The 26S Proteasome Structure and Function of positioning equipment itself is known in the art, does not give unnecessary details at this.

4. absolute coordinate system.In embodiments of the present invention, the coordinate system that will be true origin with a location point in the space is called absolute coordinate system.Can be with any one unique point in space initial point as absolute coordinate system.For example, in space shown in Figure 1 10, with the initial point of unique point 11 as absolute coordinate system.Certainly, it will be appreciated by persons skilled in the art that and select one of them unique point to calculate as initial point is just convenient, rather than necessary.If other location points as true origin, then just can be obtained absolute coordinate system described above by simple translation.This is very familiar to those skilled in the art, therefore will no longer describe in detail here.

5. relative coordinate system.In embodiments of the present invention, will be called relative coordinate system from coordinate system with positioning equipment as initial point.The initial point of this relative coordinate is the central point of this positioning equipment, and X-direction is first sensor (not shown) of this positioning equipment.Here alleged " first sensor " can be stipulated when positioning equipment is made initial configuration.When X-axis is prescribed, vertical with this X-axis place and be in the direction in this positioning equipment plane and be defined as Y-axis.

When to calibrating positioning device, then may there be certain included angle θ between relative coordinate system and the absolute coordinate system, what in the present invention this angle is called positioning equipment is provided with angle, POD angle 18 as shown in Figure 1 in absolute coordinate system.Like this, the location parameter of positioning equipment in the position (POD position 17 as shown in Figure 1) in space comprise positioning equipment under absolute coordinate system absolute coordinates and angle θ is set.According to an embodiment of the invention, a kind of technical scheme to the calibrating positioning device in the space (promptly determining the location parameter of positioning equipment) is provided, this will be described in detail hereinafter.

6. label.Label in embodiment of the present invention is meant the label that can launch distance measuring signal, for example radio-frequency (RF) tag.In embodiments of the present invention, label can be placed on the location point place in the space, so that receive relative coordinate or the absolute coordinates that distance measuring signal that label sends obtains location point by positioning equipment.The form of distance measuring signal can be multiple, can include but not limited to ultrasound wave, infrared ray, laser, radiofrequency signal, ultra-wideband impulse signal, Doppler signal and sound wave or the like.In addition, determine that by positioning equipment and label the relative coordinate of location point or absolute coordinates are known in the art, do not give unnecessary details at this.

7. region-of-interest (AOI, Area of Interest) and region-of-interest unique point.Region-of-interest is meant the geographic area that the user has characterized for specific application demand (for example security purpose).Region-of-interest is arranged in the space.For example, in the application of " safety desktop ", this desktop is defined as region-of-interest.Only within this region-of-interest, just allow visit, and in case exceed this region-of-interest or be in outside this region-of-interest, then forbid any visit this confidential information to confidential information.The region-of-interest unique point is those location points that can be used for characterizing region-of-interest.Fig. 1 shows region-of-interest 15 and region-of-interest unique point 16.According to an embodiment of the invention, a kind of technical scheme that is characterized in the region-of-interest in the space is provided, this will be described in detail hereinafter.

Below in conjunction with accompanying drawing each embodiment of the present invention is described.Should be appreciated that these embodiments just are used for illustration purpose, and are not determinate.

At first describe according to one embodiment of the present invention and be used for technical scheme calibrating positioning device.Fig. 3 shows the synoptic diagram according to the system 100 of an embodiment of the invention, this system 100 be used for the size of measurement space and in the space to calibrating positioning device.

As shown in Figure 1, this system 100 can comprise: can launch the label 110 of distance measuring signal, it is placed in the space one or more location point place as space characteristics point; Be arranged in the positioning equipment 120 in space, wherein positioning equipment 120 is configured to obtain the relative coordinate of above-mentioned space characteristics point with respect to positioning equipment self according to the distance measuring signal from label 110; And server 130, be configured to determine the location parameter of positioning equipment 120 in the space according to the relative coordinate of obtaining, thus calibrating and positioning equipment 120.

Below the realization of detailed description system 100.Particularly, according to an embodiment of the invention, the label 110 of at first selecting three the space characteristics points (being shown as the reference space unique point in Fig. 1) in the space and can launching distance measuring signal is placed on these unique points, so that determine the relative coordinate of three space characteristics points with respect to positioning equipment self.In an embodiment of the present invention, alternatively, can be by place the relative coordinate that a label is determined space characteristics point respectively at each space characteristics point.In addition, alternatively, the space characteristics point place that also a label successively can be placed on selection determines the relative coordinate of space characteristics point.Label 110 itself is known in the art, does not give unnecessary details at this.

Next, positioning equipment 120 can be set in this space.Positioning equipment 120 can be arranged on the space Anywhere.Alternatively, positioning equipment 120 is arranged on the top in space, and is arbitrarily initial setting up the time, promptly can be arranged on any position at top.Then, positioning equipment 120 can obtain the relative coordinate of above-mentioned space characteristics point with respect to positioning equipment self according to the distance measuring signal from label 110.

For example, in an embodiment of the invention, positioning equipment 120 is a true origin with the center of self, determines the relative coordinate of three sensors of positioning equipment 120 with respect to positioning equipment self.Then, three sensors can obtain the distance from above-mentioned space characteristics point to each sensor according to the distance measuring signal from the label 110 at space characteristics point place.Utilize again from above-mentioned space characteristics point to the distance of each sensor and the relative coordinate of each sensor at last, according to traditional triangle location algorithm (for example lms algorithm), obtain the relative coordinate of each space characteristics point with respect to positioning equipment 120 self.Should be appreciated that obtaining each space characteristics point by the traditional triangle location algorithm is known in the art with respect to the relative coordinate of positioning equipment 120 self, does not give unnecessary details at this.

Then, according to the embodiment of the present invention, server 130 can automatically calculate the location parameter of positioning equipment 120 in the space, thereby finish the automatic demarcation to positioning equipment 120 by corresponding calculated, and this will be described in detail later.Alternatively, this location parameter can comprise the absolute coordinates of positioning equipment 120 in the space (x, y, z) and positioning equipment 120 in the space, angle θ is set.This will be described below.

Should be appreciated that to be provided with between label 110 and the positioning equipment 120 and do not have precedence relationship.The two can be set simultaneously, also positioning equipment 120 can be set earlier, and then place label 110 at the space characteristics point place in space.

Coming with tetragonal room below in conjunction with Fig. 4 and Fig. 5 is that example is described server and how to be come the location parameter of positioning equipment 120 in the space according to the relative coordinate of three reference space unique points being obtained.

At first, calculate the size of this room (reference space just).

As shown in Figure 4, the relative coordinate of establishing ground three reference space unique points of obtaining is respectively (x ₁, y ₁, z ₁), (x ₂, y ₂, z ₂) and (x ₃, y ₃, z ₃), wherein, these relative coordinates have utilized positioning equipment 120 and label 110 to know.Unique point (x ₁, y ₁, z ₁) be defined as the initial point (0,0,0) of reference space absolute coordinate system.The length in this room (l), width (w), highly the absolute coordinates of (h), positioning equipment 120 (x, y, z) and the angle θ that is provided with of POD be unknown number.

At first determine the z coordinate of positioning equipment 120, i.e. the height of positioning equipment (h).Usually, because the roof is parallel with ground,, that is to say z=h=z so the height of positioning equipment 120 is h ₁=z ₂=z ₃But, consider the error that may exist, for example owing to the caused error of ground out-of-flatness, then the z Coordinate Calculation is z=h=(z ₁+ z ₂+ z ₃)/3.

After calculating z, remaining issues is found the solution all the other unknown numbers in two-dimensional space exactly.

Fig. 5 shows to fall into a trap to count at two-dimensional space according to an embodiment of the invention and states the unknown number (synoptic diagram of the absolute coordinates of the length in room (l), width (w), POD (x, y) and the angle θ of POD) for example.

As shown in Figure 5, the represented coordinate of solid line is the absolute coordinate system among the present invention, and the represented coordinate of dotted line is to be the relative coordinate system of initial point with the positioning equipment among the present invention.The angle of two coordinate systems, promptly the angle that is provided with of positioning equipment is θ.

According to Fig. 5, utilize conventional coordinate transform, can draw following system of equations (1):

x ₁cos(θ)-y ₁sin(θ)+x＝0

x ₁sin(θ)+y ₁cos(θ)+y＝0

x ₂cos(θ)-y ₂sin(θ)+x＝l

x ₂sin(θ)+y ₂cos(θ)+y＝w

(1)

x ₃cos(θ)-y ₃sin(θ)+x＝l

x ₃sin(θ)-y ₃cos(θ)+y＝0

(x ₁-x ₃) ²+(y ₁-y ₃) ²＝l ²

(x ₂-x ₃) ²+(y ₂-y ₃) ²＝w ²

It will be appreciated by persons skilled in the art that if adopt more reference space unique point, will increase the equation quantity of system of equations (1), just increase the line number of matrix of coefficients.This is very familiar to those skilled in the art, will no longer describe here.

This system of equations (1) is found the solution, can draw positioning equipment absolute coordinates (x, y) and the length l and the wide w of angle θ and this reference space, computation process is as follows:

$l=\sqrt{{(x_1-x_3)}^2+{(y_1-y_3)}^2}---\left(2\right)$

$w=\sqrt{{(x_2-x_3)}^2+{(y_2-y_3)}^2}---\left(3\right)$

$x=(x_1^2+{\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="H2009100020771E0000031.png,H2009100020771E0000072.png"\; state="\{\{state\}\}">y</figure-callout>}}_1^2-x_1{x}_3-y_1{y}_3)/l---\left(4\right)$

$y=x_3^2+{\mathrm{<figure-callout\; id="3"\; label="y"\; filenames="H2009100020771E0000073.png,H2009100020771E0000081.png"\; state="\{\{state\}\}">y</figure-callout>}}_3^2-x_2{x}_3-y_2{\mathrm{<figure-callout\; id="3"\; label="y"\; filenames="H2009100020771E0000073.png,H2009100020771E0000081.png"\; state="\{\{state\}\}">y</figure-callout>}}_3/w---\left(5\right)$

$\mathrm{\&theta;}=\mathrm{ac}\sin \left(\frac{y_{3}x-x_{1}y}{x_1{x}_3+y_3{y}_1}\right)---\left(6\right)$

So just can obtain the size and the location parameter of positioning equipment in this reference space of reference space, for example the absolute coordinates of positioning equipment (x, y, z) and angle θ is set, thus the demarcation of complete space determining dimensions and positioning equipment automatically.

In case should be appreciated that this positioning equipment 120 is demarcated, it can utilize existing triangle location algorithm directly to obtain the absolute coordinates of any point in this space in the space.In addition, positioning equipment 120 also can obtain the more any absolute coordinates in the space by the conversion between relative coordinate and the absolute coordinates.Promptly at first obtain location point in the space with respect to the relative coordinate of positioning equipment self, obtain the absolute coordinates of location point again by the coordinate conversion of routine.

Superincumbent example is by selecting three space characteristics to put to have described the process to calibrating positioning device of being used for according to embodiment of the present invention.Yet, and invention is not limited to the realization of three space characteristics points.In specific implementation, also can only use one or two space characteristics points to come to calibrating positioning device.For example, when at top, room placement positioning equipment, can be so that the X-axis (for example direction of first sensor) of himself relative coordinate system be parallel with the X-axis of space absolute coordinate system.In this case, the angle θ that is provided with of positioning equipment is actually zero.At this moment, with the initial point that corner, house is an absolute coordinate system, promptly the absolute coordinates in this corner in house is (0,0,0).Can obtain the relative coordinate of this corner by positioning equipment with respect to positioning equipment.Usually, as implied above, the Z axial coordinate of positioning equipment equals the Z axial coordinate value of this angle with respect to the positioning equipment relative coordinate.Then, in two dimensional surface,,, can obtain the X-axis and the Y-axis coordinate of the absolute coordinates of this positioning equipment by common coordinate system translation transformation according to the relative coordinate and the absolute coordinates in this corner.Concrete conversion is known in the art, does not give unnecessary details at this.

Should be appreciated that according to the embodiment of the present invention the space characteristics point of selection is many more, the number of the equation that obtains according to coordinate transform is many more, and the location parameter of determined positioning equipment is accurate more thus.

Above-mentioned embodiment has been described in tetragonal room the process to calibrating positioning device.But, should be appreciated that the present invention does not limit to the space in quadrilateral room.When if to be other irregularly shaped in the space, three points on then can the usage space periphery simulate a polygon, thereby can treat the space of other shapes as treating the polygon space.

According to another implementation of the invention, as shown in Figure 6, also provide a kind of equipment 200 that is used for the calibrating positioning device that is arranged in the space, wherein, one or more location point in this space is selected as the space characteristics point.This equipment 200 can comprise: receiving trap 210 is used to receive the relative coordinate of space characteristics point with respect to positioning equipment self; And definite device 220, thereby be used for determining that according to relative coordinate positioning equipment demarcates described positioning equipment at the location parameter in space.Determine that according to relative coordinate the mode of the location parameter of positioning equipment in the space is identical in the course of work of determining device 220 and the above-mentioned embodiment described in conjunction with Figure 3.

According to this embodiment of the present invention, space characteristics point place can be placed with the label that can launch distance measuring signal.Relative coordinate can be that positioning equipment obtains according to the distance measuring signal from label, and this operating process with the positioning equipment 120 of above-mentioned Fig. 3 is identical.

Should be appreciated that when specific implementation equipment 200 can be integrated in the positioning equipment shown in Figure 3 120, also can be integrated in shown in Figure 3 and the server 130 that this positioning equipment 120 is connected.

The technical scheme to calibrating positioning device of another embodiment according to the present invention is described below.Usually in bigger room, a plurality of positioning equipments can be set, so that whole room is covered.Therefore, as shown in Figure 7,, provide a kind of system 300, be used to demarcate a plurality of positioning equipments according to another embodiment of the present invention.This system 300 can comprise: can launch the label 310 of distance measuring signal, be positioned over one or more location point place in the space; First positioning equipment of having demarcated 320 is configured to obtain the absolute coordinates of location point in the space according to the distance measuring signal from label 310; Second positioning equipment 330 is configured to obtain the relative coordinate of location point with respect to second positioning equipment 330 according to the distance measuring signal from label 310; And server 340, be configured to determine the location parameter of second positioning equipment 330 in the space according to absolute coordinates and relative coordinate, thereby demarcate second positioning equipment 330, wherein location point is in first positioning equipment 320 and second positioning equipment 330 overlapping covered.

Come the specific implementation of descriptive system 300 below in conjunction with Fig. 8.Describe for convenient, in Fig. 8, first positioning equipment of reserving in the space acceptance of the bid 320 is expressed as POD1, and second positioning equipment 330 to be calibrated is expressed as POD2.

In Fig. 8, POD1 demarcates.It is pointed out that the demarcation to POD1 can also can be that any other suitable method is demarcated by as above demarcating in conjunction with the described technical scheme of Fig. 3-6.

In order to demarcate POD2, need at first to determine the overlay area of POD1 and POD2, and guarantee that these two POD have overlapping overlay area.As shown in Figure 8, the overlay area of POD1 is called as first overlay area, and POD2 has second overlay area, and the two has overlapping covered.Determine the overlapping covered several different methods that has, for example, can by detect label that can POD1 and POD2 detect specific location simultaneously determine this position whether be in overlapping covered in.Also can determine overlapping covered by additive method.

In order to demarcate POD2, need calculate the absolute coordinates (x of this POD2 in this room ₂₀, y ₂₀, z ₂₀) and the angle θ of this POD2 ₂₀Particularly, in overlapping covered, select two location points (to describe for convenient, be called overlapping covered location point), and place label at described two location points respectively and (describe for convenient, be called overlapping covered label), with emission distance measuring signal (serve as convenient the description, be called overlapping covered distance measuring signal).Alternatively, use a label successively to be placed at least two location points, launch distance measuring signal.

According to an embodiment, POD1 can at first obtain the relative coordinate of these two overlapping covered location points with respect to self by the distance measuring signal from label, and then obtain the absolute coordinates of these two overlapping covered location points by coordinate transform, for example be (x ₁₁, y ₁₁, z ₁₁) and (x ₁₂, y ₁₂, z ₁₂).Replacedly, POD1 can be directly according to the absolute coordinates (x that directly obtains these two overlapping covered location points from the distance measuring signal of label by existing triangle location algorithm ₁₁, y ₁₁, z ₁₁) and (x ₁₂, y ₁₂, z ₁₂).

Simultaneously, POD2 can obtain the relative coordinate of these two overlapping covered location points in its oneself coordinate system, for example be (x ₂₁, y ₂₁, z ₂₁) and (x ₂₂, y ₂₂, z ₂₂).As can be seen, because POD1 process demarcation, so the absolute coordinates of these two overlapping covered location points is known.In addition, because this POD2 also is arranged on for example roof, so the z of this POD2 ₂₀=h=(z ₁+ z ₂+ z ₃)/3.Thus, to the coordinate (x of POD2 ₂₀, y ₂₀, z ₂₀) and angle θ ₂₀Calculating be simplified in the two-dimensional coordinate.

By the geometry analysis, can calculate the absolute coordinates of POD2 in this reference space by following system of equations:

$\left\{\begin{array}{c}{x}_{21}\cos \left({\mathrm{\&theta;}}_{20}\right)-y_{21}\sin \left({\mathrm{\&theta;}}_{20}\right)+x_{20}=x_{11}\\ x_{21}\sin \left({\mathrm{\&theta;}}_{20}\right)+y_{21}\cos \left({\mathrm{\&theta;}}_{20}\right)+y_{20}=y_{11}\\ x_{22}\cos \left({\mathrm{\&theta;}}_{20}\right)-y_{22}\sin \left({\mathrm{\&theta;}}_{20}\right)+x_{20}=x_{12}\\ x_{22}\sin \left({\mathrm{\&theta;}}_{20}\right)+y_{22}\cos \left({\mathrm{\&theta;}}_{20}\right)+y_{20}=y_{12}\end{array}\right.---\left(7\right)$

Can derive following matrix computations by system of equations (7):

$\left[\begin{array}{cccc}{x}_{21}& -y_{21}& 1& 0\\ y_{21}& x_{21}& 0& 1\\ x_{22}& -y_{22}& 1& 0\\ y_{22}& x_{22}& 0& 1\end{array}\right]\left[\begin{array}{c}\cos \left({\mathrm{\&theta;}}_{20}\right)\\ \sin \left({\mathrm{\&theta;}}_{20}\right)\\ x_{20}\\ y_{20}\end{array}\right]=\left[\begin{array}{c}{x}_{11}\\ y_{11}\\ x_{12}\\ y_{12}\end{array}\right]---\left(8\right)$

To this Matrix Solving, then can draw the coordinate and the angle θ of second positioning equipment ₂₀:

$\left[\begin{array}{c}\cos \left({\mathrm{\&theta;}}_{20}\right)\\ \sin \left({\mathrm{\&theta;}}_{20}\right)\\ x_{20}\\ y_{20}\end{array}\right]={\left(A^{T}A\right)}^{-1}{A}^{T}b---\left(9\right)$

Wherein,

$A=\left[\begin{array}{cccc}{x}_{21}& -y_{21}& 1& 0\\ y_{21}& x_{21}& 0& 1\\ x_{22}& -y_{22}& 1& 0\\ y_{22}& x_{22}& 0& 1\end{array}\right],$ $b=\left[\begin{array}{c}{x}_{11}\\ y_{11}\\ x_{12}\\ {\mathrm{<figure-callout\; id="12"\; label="y"\; filenames="H2009100020771E0000011.png"\; state="\{\{state\}\}">y</figure-callout>}}_{12}\end{array}\right]$

Can calculate absolute coordinates and the angle thereof of POD2 to be calibrated thus.

Should be appreciated that superincumbent example, described the process of being used for calibrating positioning device according to embodiment of the present invention by selecting two overlapping region location points.Yet, and invention is not limited to two overlapping covered location points.In specific implementation, also can only use an overlapping covered location point to come to calibrating positioning device.For example, demarcated when first positioning equipment and during to second calibrating positioning device, can be arranged so that the X-axis of second positioning equipment is parallel with the X-axis of first positioning equipment.In this case, second positioning equipment that angle is set is identical with the equipment angle of first positioning equipment, be known quantity.At this moment, utilize the absolute coordinates of an overlapping covered location point of first positioning equipment acquisition of having demarcated, and obtain the relative coordinate of this location point with respect to second positioning equipment by second positioning equipment.Then, by common coordinate transform, can obtain the absolute coordinates of this second positioning equipment.

It is pointed out that selected overlapping covered location point also can be more than two, this will increase the line number of above matrix of coefficients, and computation process is identical with above computation process.Should be appreciated that, select more multiple superimposition lid regional location point to help improving bearing accuracy.

Further, can adopt above method and demarcate more POD step by step, thereby cover bigger zone according to the POD that has demarcated.Here will no longer describe in detail.

According to an embodiment of the invention, as shown in Figure 9, also provide a kind of equipment 400 that positioning equipment (for example POD2) is demarcated of being used for.This equipment 400 can comprise: receiving trap 410 is used for receiving one or more location point in the absolute coordinates in described space and the described location point relative coordinate with respect to described positioning equipment; And definite device 420, be used for determining the location parameter of described positioning equipment, thereby demarcate described positioning equipment in described space according to described absolute coordinates and described relative coordinate.Determine that the work engineering of device 420 determines that according to absolute coordinates and relative coordinate the mode of the location parameter of positioning equipment in the space is identical with above-mentioned embodiment with reference to figure 7 and 8.

Be understandable that the absolute coordinates of this location point in described space can obtain by any known mode.Alternatively, according to the embodiment of the present invention, the absolute coordinates of described at least two location points is to determine by another positioning equipment of having demarcated (for example POD 1).Wherein at least two location points are arranged in positioning equipment and another positioning equipment of having demarcated overlapping covered, be placed with the label that to launch distance measuring signal at least two location point places, described positioning equipment can obtain described relative coordinate according to the distance measuring signal from label, and described another positioning equipment can obtain described absolute coordinates according to the distance measuring signal from label.Certainly, the absolute coordinates of location point in described space also can be determined by artificial mode.

It is pointed out that once more equipment 400 can be integrated in first positioning equipment 320 shown in Figure 7 or second positioning equipment 330 (for example POD2), also can be integrated in the server 340.

From above having described according to the embodiment of the present invention method to calibrating positioning device, as can be seen, in to calibrating positioning device, length and width that need not the manual measurement room and positioning equipment angle is set.And, owing to adopted label, can avoid carrying out manual measurement, thereby improve work efficiency, improved stated accuracy.

The technical scheme that characterizes region-of-interest after having determined reference space and having demarcated positioning equipment according to an embodiment of the invention is described below.Get back to Fig. 1, wherein show region-of-interest.Region-of-interest can be in the space Anywhere, also can select the zone of Any shape as region-of-interest.In the time of in the personnel that wear label enter this region-of-interest, then come to determine the relation in these personnel and space as required, for example allow/forbid these personnel to visit specific confidential information or the like.Obviously,, need to determine the border of this region-of-interest, promptly characterize this region-of-interest in order to reach this purpose.

It is pointed out that the residing space of region-of-interest and nonessential be the determined reference space of embodiment of Fig. 3-Fig. 6 according to the present invention, and can be the determined space of modes such as manual measurement that comprises no label according to any prior art.And the positioning equipment of definite region-of-interest must not be positioning equipment shown in Figure 2 also, and can be any known positioning equipment or positioning equipment array.

As shown in figure 10, according to one embodiment of the present invention, a kind of system 500 is provided, be used for determining or characterizing region-of-interest, this system 500 can comprise: can launch the label 510 of distance measuring signal, be placed on the region-of-interest unique point place of the region-of-interest that can characterize in the space; Positioning equipment 520 in the space is configured to according to the location parameter that obtains the region-of-interest unique point from the distance measuring signal of label 510; And server 530, be configured to characterize described region-of-interest according to the location parameter of described region-of-interest unique point.

Be understandable that when this region-of-interest was in the determined space, it can adopt the reference coordinate identical with reference space.The absolute coordinates that is to say any point in this region-of-interest is that initial point is a benchmark with certain point (for example corner of the room) of this reference space all.

For the shape of region-of-interest, can be divided into two classes, promptly regular shape and irregularly shaped is described respectively below according to the technical scheme at regular shape and erose definite region-of-interest of the present invention.Here need to prove that because preferably this region-of-interest is parallel with surface level, so the height of this region-of-interest can be the height of selected arbitrary region-of-interest unique point.But for the positioning error that prevents, select these region-of-interest unique point average height, after the height of having selected region-of-interest, remaining issues is exactly a shape of determining this region-of-interest in two-dimensional coordinate.It on average is identical that this z coordinate to certain characteristics point that adopts during with definite reference space is asked.Therefore omit description herein, and only be described in the method for determining this region-of-interest in the two-dimensional coordinate its z coordinate.

With reference now to Figure 11 to 16, describes the specific implementation of system shown in Figure 10 500 in detail.Figure 11 shows the synoptic diagram according to the method for the sign polygon region-of-interest of one embodiment of the present invention.

As shown in figure 11, this polygon for example has 5 limits, and then this region-of-interest unique point is preferably this polygonal 5 summits.Locate placement label 510 as shown in figure 10 respectively on this polygonal summit, this label can send distance measuring signals to positioning equipment 520.Then, positioning equipment 520 can receive this distance measuring signal, and obtains the coordinate of these 5 region-of-interest unique points in the space from this distance measuring signal.Alternatively, can at first obtain the relative coordinate of these 5 region-of-interest unique points with respect to this positioning equipment 520 self.Utilize traditional coordinate transform then, the location parameter in the space obtains the absolute coordinates of these region-of-interest unique points in reference space according to this relative coordinate and positioning equipment 520.Like this, can come this polygon according to this absolute coordinates, for example the AOI zone of 5 limit shapes characterizes.Particularly, exactly these summits are coupled together to determine this polygon region-of-interest.

Should be appreciated that and also can utilize the region-of-interest unique point to characterize region-of-interest with respect to the relative coordinate of positioning equipment.

Figure 12 shows the synoptic diagram of method of the circular region-of-interest of sign of another embodiment according to the present invention.

As shown in figure 12, this region-of-interest is circular, and then the unique point of this region-of-interest is preferably this circular center of circle and the arbitrfary point on the round edge.The two-dimentional absolute coordinates in this center of circle that design obtains is (x ₁,, y ₁), the more any two-dimentional absolute coordinates on the round edge is (x ₂, y ₂), radius r that so should the circle region-of-interest is:

$r=\sqrt{{(x_1-x_2)}^2+{(y_1-y_2)}^2}---\left(10\right)$

By equation (10), in this circle region-of-interest arbitrarily the coordinate of a bit (x y) can be confirmed as

(x-x ₁) ²+(y-y ₁) ²≤r ² (11)

Figure 13 shows the method for the oval region-of-interest of sign of another embodiment according to the present invention.

As shown in figure 13, this region-of-interest should ellipse, and then this region-of-interest unique point is preferably this oval central point, the intersection point of transverse and this elliptical side, and the intersection point of ellipse short shaft and this elliptical side.The two-dimentional absolute coordinates of this central point that design obtains is (x ₁, y ₁), major axis is (x with the two-dimensional coordinate of the intersection point of ellipse ₂, y ₂), and the two-dimensional coordinate of the intersection point of minor axis and ellipse is (x ₃, y ₃), this long axis of ellipse a and minor axis b are respectively so

$a=\sqrt{{(x_1-x_2)}^2+{(y_1-y_2)}^2}---\left(12\right)$

$b=\sqrt{{(x_1-x_3)}^2+{(y_1-y_3)}^2}---\left(13\right)$

By equation (12) and (13), in this ellipse region-of-interest arbitrarily the coordinate of a bit (x y) can be confirmed as:

$\frac{{(x-x_1)}^2}{a^2}+\frac{{(y-y_1)}^2}{{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="H2009100020771E0000072.png,H2009100020771E0000073.png"\; state="\{\{state\}\}">b</figure-callout>}}^2}\&le;1---\left(14\right)$

It will be appreciated that only provided the example of several regular shapes here, the present invention is not limited to polygon described above, circle and oval, but can comprise the shape that the enough more complex mathematical functions of other energy are expressed.In addition, regular shape can also refer to the combination of above various primitive rule shapes, for example circular with circular combination, circular and oval-shaped combination or the like.Figure 14 shows the combination of the different circle of two radiuses, is understandable that according to equation (10) and (11), those skilled in the art can determine the intersection point A and the B of these two circles, thereby determines region-of-interest.Concrete calculating is very clearly to those skilled in the art, therefore will be not described in detail here.

Above described the example of region-of-interest how to determine to have regular shape, described below when region-of-interest is non-regular shape, how to determine this region-of-interest.

Because any non-regular shape can be similar to by polygon.Below, will the region-of-interest that come the non-regular shape of match by polygon be described particularly.

At first need to prove, allegedly among the present invention label 510 is carried out " placement " can carry out in several ways, for example, can place a plurality of labels 510 simultaneously by periphery at the region-of-interest of non-regular shape, thus positioning equipment according to these labels directly or indirectly (promptly by coordinate transform) obtain the absolute coordinates or the relative coordinate of label place region-of-interest unique point.Number of labels is many more, and then the shape of this region-of-interest is accurate more.In addition, also can adopt following manner: the user carries a label and along the periphery walking of the region-of-interest of this non-regular shape.When the user walked, positioning equipment constantly received the signal from this label, thereby obtained region-of-interest characteristic point coordinates sequence.Preferably, in order to improve the quality of region-of-interest characteristic point coordinates sequence, the user will stay for some time at each unique point place, up to positioning equipment or the result settle out.The unique point quantity of gathering is many more, and then the precision of the region-of-interest of determined non-regular shape is high more.In addition, need be pointed out that once more that in order to improve precision, the height of this region-of-interest can obtain by the average height of calculating each unique point.

According to the embodiment of the present invention, when this region-of-interest is non-regular shape, can select at least three positions in this region-of-interest as the region-of-interest unique point, with the constitutive characteristic point sequence, then these at least three region-of-interest unique points are carried out match, to characterize this region-of-interest.

As can be seen, three region-of-interest unique points can be determined a plane, thereby Any shape all can utilize three points to characterize roughly.Certainly, the region-of-interest unique point of selection is many more, and then the sign to this region-of-interest is accurate more.

According to an embodiment of the invention, at least three region-of-interest unique points are carried out match comprise directly these at least three region-of-interest unique points are connected in turn.Be understandable that, unique point coupled together be actually a kind of special approximating method.

According to another embodiment of the present invention, at least three region-of-interest unique points are carried out match comprise described characteristic point sequence is divided into groups; And match is assigned to same group described region-of-interest unique point.

Divide into groups to adopt several different methods.For example, can fifty-fifty the region-of-interest unique point of being obtained be divided into groups, also can be by relatively the horizontal ordinate or the ordinate of each region-of-interest characteristic point coordinates divide into groups.For example, if the fluctuation of the horizontal ordinate of some region-of-interest unique point is less, for example the difference between several horizontal ordinates (or ordinate) then can be assigned to these somes a group within limits.

According to an embodiment of the invention, whether absolute value that can be by the slope differences of the determined straight line of region-of-interest unique point relatively is less than predetermined threshold, if the absolute value of slope differences less than predetermined threshold, then is divided into one group with described region-of-interest unique point, otherwise is divided into different groups.

Figure 15 a and 15b more specifically show the process of dividing into groups according to the embodiment of the present invention.

Shown in Figure 15 a, the absolute coordinates of three continuous region-of-interest unique points is respectively (x _I-2, y _I-2), (x _I-1, y _I-1) and (x _i, y _i), wherein i is an arbitrary integer.The slope of determined straight line is respectively between then adjacent 2

With

According to present embodiment, if the absolute value of the slope differences of three continuous determined two straight lines of region-of-interest unique point less than predetermined threshold, then is divided into one group with these three region-of-interest unique points, otherwise is divided into different groups.For example, if satisfy inequality (15), then region-of-interest unique point (x _I-1, y _I-1) and (x _i, y _i) be divided into same group:

$|\frac{x_i-x_{i-1}}{y_i-y_{i-1}}-\frac{x_{i-1}-x_{i-2}}{y_{i-1}-y_{i-2}}|<H---\left(15\right)$

If satisfy inequality (16), then region-of-interest unique point (x _I-1, y _I-1) and (x _i, y _i) be divided into different groups:

$|\frac{x_i-x_{i-1}}{y_i-y_{i-1}}-\frac{x_{i-1}-x_{i-2}}{y_{i-1}-y_{i-2}}|\&GreaterEqual;H---\left(16\right)$

Wherein H is a specific threshold value, and this can set in advance.

It should be noted that, a kind of embodiment that the region-of-interest unique point is divided into groups according to the present invention has only been described in inequality (15) and (16), and it is the standard that the absolute value by three constantly more continuous determined straight slope differences of region-of-interest unique point is used as dividing into groups.

Introduce according to the another kind of embodiment that the region-of-interest unique point is divided into groups of the present invention below.According to this embodiment of the present invention, at first determine the slope of preceding two determined straight lines of region-of-interest unique point, establish described preceding two region-of-interest characteristic point coordinates and be respectively (x ₁, y ₁) and (x ₂, y ₂), then its determined straight slope S is:

$S=\frac{x_2-x_1}{y_1-y_1}---\left(17\right)$

Then, slope and this slope S of follow-up per two determined straight lines of consecutive point compared, if the absolute value of difference is less than certain threshold level, then with these point and (x ₁, y ₁) and (x ₂, y ₂) be divided into one group, shown in inequality (18):

$|\frac{x_i-x_{i-1}}{y_i-y_{i-1}}-S|<H---\left(18\right)$

Wherein i pays close attention to the index of provincial characteristics point.

Otherwise,, then these points are divided into and (x if satisfy inequality (19) ₁, y ₁) and (x ₂, y ₂) different groups:

$|\frac{x_i-x_{i-1}}{y_i-y_{i-1}}-S|\&GreaterEqual;H---\left(19\right)$

By with upper type, a plurality of region-of-interest unique points can be divided into different groups.And, can prevent to produce accumulated error according to the group technology of this embodiment.

Figure 15 b shows the exemplary plot that a plurality of region-of-interest unique points is divided into 4 groups according to present embodiment, and wherein 1,2,3 and 4 represent packet numbers respectively.

The fitting a straight line that carries out according to each region-of-interest unique point to after the grouping of one embodiment of the present invention is described below, the process of just carrying out the single order match.

After each region-of-interest unique point having been carried out grouping, can use straight line to come region-of-interest unique point in each grouping of match, just the region-of-interest unique point in each grouping is carried out the fitting a straight line of single order.If the straight line of i grouping of match is

y＝k _ix+z _i (20)

K wherein _iBe the slope of this straight line, z _iBe the translation of this straight line, utilize the coordinate of two points can calculate k _iAnd z _iTo be not described in detail herein.

The formed polygonal summit of match can be defined as so:

If i=1, then

$\left\{\begin{array}{c}{V}_{x,1}=\frac{z_N-z_1}{k_1-k_N}\\ V_{y,1}=\frac{k_1{z}_N-k_N{z}_1}{k_1-k_N}\end{array}\right.---\left(21\right)$

Otherwise

$\left\{\begin{array}{c}{V}_{x,i}=\frac{z_{i+1}-z_i}{k_i-k_{i+1}}\\ V_{y,i}=\frac{k_i{z}_{i+1}-k_{i+1}{z}_i}{k_i-k_{i+1}}\end{array}\right.---\left(22\right)$

Figure 16 shows the example of the tetragonal region-of-interest of fitting to of above-mentioned embodiment.In this quadrilateral, positioning equipment only need pass through four point (V _{X, 1}, V _{Y, 1}), (V _{X, 2}, V _{Y, 2}), (V _{X, 3}, V _{Y, 3}) and (V _{X, 4}, V _{Y, 4}) coordinate can the region-of-interest of this non-regular shape be characterized.

According to another embodiment of the present invention, can also utilize the curve fitting of high-order that the region-of-interest unique point in each grouping is carried out match.For example, the curve fitting equation on 3 rank can be expressed as:

y＝a ₀+a ₁x+a ₂x ²+a ₃x ³ (23)

Need the coordinate of four points can obtain coefficient a ₀-a ₃Value.By the curve fitting of high-order, can draw characteristic area is carried out more accurate sign, the cost of paying like this is to need the more unique point of record.Certainly, the present invention is not limited to the shown matched curve of equation (23), but can use other matched curve.Curve fitting is very familiar to those skilled in the art, therefore will no longer describe in detail here.

Certainly, also each region-of-interest unique point of obtaining directly can be coupled together with straight line, form the region-of-interest shown in Figure 15 b.It is pointed out that each point is directly connected a kind of special case that is actually fit procedure, this is above setting forth.

According to another embodiment of the present invention, as shown in figure 17, a kind of equipment 600 that is used for characterizing the region-of-interest in space is provided, this equipment can comprise: receiving trap 610, be used to receive the location parameter of the region-of-interest unique point that can characterize region-of-interest, wherein location parameter is to utilize the positioning equipment that is arranged in the space to obtain; And characterization apparatus 620, be used for characterizing described region-of-interest according to described location parameter.The course of work of sign 620 is identical with the mode that the described location parameter according to the region-of-interest unique point of Figure 10-16 characterizes described region-of-interest.

According to an embodiment of the invention, when described region-of-interest was non-regular shape, receiving trap 610 further received the location parameter of borderline at least three the region-of-interest unique points of region-of-interest, with the constitutive characteristic point sequence; And characterization apparatus 620 further comprises and is used for described characteristic point sequence is carried out the device that match characterizes region-of-interest.Alternatively, the device that is used for described characteristic point sequence is carried out match can comprise: be used for device that described characteristic point sequence is divided into groups; And be used for the device that match is assigned to same group described region-of-interest unique point.

According to an embodiment of the invention, be used for the device that described characteristic point sequence is divided into groups is comprised: whether the slope differences absolute value that is used for the determined straight line of comparison region-of-interest unique point is less than the device of predetermined threshold, if and the absolute value that is used for slope differences then is divided into one group device with these region-of-interest unique points less than predetermined threshold.

Equally, this equipment 600 can be integrated in the positioning equipment 520, also can be integrated in the server 530.

Equipment 200,400 and 600 according to embodiment of the present invention can be realized by software, hardware, firmware, circuit, DSP and their variety of ways such as combination.

According to an embodiment of the invention, as shown in figure 18, also provide a kind of method 700 that is used for the calibrating positioning device in space, wherein, one or more location point in this space is selected as the space characteristics point.This method 700 can comprise: at step S710, receive the relative coordinate of space characteristics point with respect to positioning equipment self; And, determine the location parameter of described positioning equipment in described space, thereby demarcate described positioning equipment according to described relative coordinate at step S720.

According to preferred implementation of the present invention, the place is placed with the label that can launch distance measuring signal at described space characteristics point, and described relative coordinate is that described positioning equipment obtains according to the described distance measuring signal from label.Can realize the robotization of measuring like this.

According to another embodiment of the present invention, as shown in figure 19, a kind of method 800 that is used for calibrating positioning device is provided, this method can comprise: at S810, receive one or more location point in the space absolute coordinates and described location point with respect to the relative coordinate of described positioning equipment; And, determine the location parameter of described positioning equipment in described space according to described absolute coordinates and described relative coordinate, thereby demarcate described positioning equipment at S820.

According to preferred implementation of the present invention, described location point is arranged in described positioning equipment and another positioning equipment of having demarcated overlapping covered, the place is placed with the label that can launch distance measuring signal at described location point, described relative coordinate is that described positioning equipment obtains according to the distance measuring signal from label, and described absolute coordinates is that described another positioning equipment obtains according to the distance measuring signal from label.

According to another embodiment of the invention, as shown in figure 20, a kind of method 900 that is used for characterizing the region-of-interest in space is provided, this method 900 can comprise: in step 910, reception can characterize the location parameter of the region-of-interest unique point of region-of-interest, and wherein said location parameter is to utilize the positioning equipment that is arranged in the space to obtain; And, in step 920,, characterize described region-of-interest according to described location parameter.

According to an embodiment of the invention, described location parameter be the absolute coordinates of described region-of-interest unique point in the space put or described region-of-interest unique point with respect to the relative coordinate of positioning equipment.

According to an embodiment of the invention, when described region-of-interest was circle, described region-of-interest unique point was the center of circle of described circle and the arbitrfary point of circular periphery.

According to an embodiment of the invention, when described region-of-interest was polygon, described region-of-interest unique point was described polygonal summit.

According to an embodiment of the invention, when described region-of-interest is ellipse, the intersection point of the central point that described region-of-interest unique point is described ellipse, described long axis of ellipse and this elliptical side and the minor axis of described ellipse and the intersection point of this elliptical side.

According to another implementation of the invention, when described region-of-interest is non-regular shape, this method can comprise: receive the location parameter of borderline at least three the region-of-interest unique points of region-of-interest, described at least three region-of-interest unique point constitutive characteristic point sequences; Described characteristic point sequence is carried out match, to characterize this region-of-interest.

According to an embodiment of the invention, described characteristic point sequence is carried out match comprise: described unique point is directly coupled together.

According to preferred implementation of the present invention, described characteristic point sequence is carried out match comprise: described characteristic point sequence is divided into groups; And match is assigned to same group described region-of-interest unique point.

According to preferred implementation of the present invention, described characteristic point sequence is divided into groups to comprise: relatively whether the absolute value of the slope differences of the determined straight line of region-of-interest unique point is less than predetermined threshold, if the absolute value of slope differences less than predetermined threshold, then is divided into one group with these region-of-interest unique points.

According to the embodiment of the present invention, described match comprises single order fitting a straight line algorithm or luminance curve fitting algorithm.

Method and apparatus of the present invention can be realized in the combination of software, hardware or software and hardware.Hardware components can utilize special logic to realize; Software section can be stored in the storer, and by suitable instruction execution system, for example microprocessor, personal computer (PC) or large scale computer are carried out.

The purpose that instructions of the present invention is provided is in order to illustrate and to describe, rather than is used for exhaustive or limits the invention to disclosed form.For those of ordinary skill in the art, many modifications and changes all are conspicuous.

Therefore; selecting and describing embodiment is in order to explain principle of the present invention and practical application thereof better; and those of ordinary skills are understood, under the prerequisite that does not break away from essence of the present invention, all modifications and change all fall within protection scope of the present invention defined by the claims.

Claims (32)

1. system comprises:

Can launch the label of distance measuring signal, be placed in the space location point place as space characteristics point;

Be arranged in the positioning equipment in described space, be configured to obtain the relative coordinate of described space characteristics point with respect to positioning equipment self according to distance measuring signal from label; And

Server is configured to determine the location parameter of described positioning equipment in described space according to described relative coordinate, thereby demarcates described positioning equipment.

2. system according to claim 1, wherein, described location parameter comprises the absolute coordinates of described positioning equipment in described space and angle is set.

3. method according to claim 1, wherein, described distance measuring signal is at least a in ultrasound wave, infrared ray, laser, radiofrequency signal, ultra-wideband impulse signal and the sound wave.

4. system comprises:

Can launch the label of distance measuring signal, be positioned over the location point place in the space,

First positioning equipment of having demarcated is configured to obtain the absolute coordinates of described location point in described space according to the distance measuring signal from label;

Second positioning equipment is configured to obtain the relative coordinate of described location point with respect to described second positioning equipment according to the distance measuring signal from label; And

Server is configured to determine the location parameter of described second positioning equipment in described space according to described absolute coordinates and described relative coordinate, thereby demarcates described second positioning equipment,

Wherein said location point is in described first positioning equipment and second positioning equipment overlapping covered.

5. system according to claim 4, wherein, described location parameter comprises the absolute coordinates of described second positioning equipment in described space and angle is set.

6. system comprises:

Can launch the label of distance measuring signal, be placed on the region-of-interest unique point place of the region-of-interest that can characterize in the space;

Positioning equipment in the described space is configured to according to the location parameter that obtains described region-of-interest unique point from the distance measuring signal of label; And

Server is configured to characterize described region-of-interest according to the location parameter of described region-of-interest unique point.

7. system according to claim 6, wherein, when described region-of-interest is non-regular shape,

Described positioning equipment further is configured to utilize label to obtain the location parameter of borderline at least three the region-of-interest unique points of region-of-interest, with the constitutive characteristic point sequence; And

Described server further is configured to described characteristic point sequence is carried out match, to characterize region-of-interest.

8. system according to claim 7, wherein, described server further is configured to described characteristic point sequence is divided into groups, and match is assigned to same group described region-of-interest unique point.

9. system according to claim 8, wherein, whether described server further is configured to the absolute value of slope differences of the determined straight line of comparison region-of-interest unique point less than predetermined threshold, if and the absolute value of slope differences is less than predetermined threshold, then described region-of-interest unique point is divided into one group.

10. method that is used for the calibrating positioning device in space, wherein, the location point in this space is selected as the space characteristics point, and this method comprises:

Receive the relative coordinate of described space characteristics point with respect to described positioning equipment; And

Determine the location parameter of described positioning equipment in described space according to described relative coordinate, thereby demarcate described positioning equipment.

11. method according to claim 10, wherein, the place is placed with the label that can launch distance measuring signal in described unique point, and described relative coordinate is to utilize described positioning equipment to obtain according to the distance measuring signal from label.

12. according to claim 10 or 11 described methods, wherein, described location parameter comprises the absolute coordinates of described positioning equipment in described space and angle is set.

13. a method that is used for calibrating positioning device comprises:

Receiving position point in the space absolute coordinates and described location point with respect to the relative coordinate of described positioning equipment; And

Determine the location parameter of described positioning equipment in described space according to described absolute coordinates and described relative coordinate, thereby demarcate described positioning equipment.

14. method according to claim 13, wherein, described location point is arranged in described positioning equipment and another positioning equipment of having demarcated overlapping covered, the place is placed with the label that can launch distance measuring signal at described location point, described relative coordinate is to utilize described positioning equipment to obtain according to the distance measuring signal from label, and described absolute coordinates is to utilize described another positioning equipment to obtain according to the distance measuring signal from label.

15. according to claim 13 or 14 described methods, wherein, described location parameter comprises the absolute coordinates of described positioning equipment in described space and angle is set.

16. a method that is used for characterizing the region-of-interest in space comprises:

Reception can characterize the location parameter of the region-of-interest unique point of region-of-interest, and wherein said location parameter is to utilize the positioning equipment that is arranged in the space to obtain; And

According to described location parameter, characterize described region-of-interest.

17. method according to claim 16, wherein, described location parameter be the absolute coordinates of described region-of-interest unique point in the space put or described region-of-interest unique point with respect to the relative coordinate of positioning equipment.

18. according to claim 16 or 17 described methods, wherein, when described region-of-interest was circle, described region-of-interest unique point was the center of circle of described circle and the arbitrfary point of circular periphery.

19. according to claim 16 or 17 described methods, wherein, when described region-of-interest was polygon, described region-of-interest unique point was described polygonal summit.

20. according to claim 16 or 17 described methods, wherein, when described region-of-interest is ellipse, the intersection point of the central point that described region-of-interest unique point is described ellipse, described long axis of ellipse and this elliptical side and the minor axis of described ellipse and the intersection point of this elliptical side.

21. according to claim 16 or 17 described methods, wherein, when described region-of-interest was non-regular shape, this method comprised:

Receive the location parameter of borderline at least three the region-of-interest unique points of region-of-interest, described at least three region-of-interest unique point constitutive characteristic point sequences; And

Described characteristic point sequence is carried out match, to characterize this region-of-interest.

22. method according to claim 21 wherein, is carried out match with described characteristic point sequence and is comprised:

Described characteristic point sequence is divided into groups; And

Match is assigned to same group described region-of-interest unique point.

23. method according to claim 22 wherein, divides into groups described characteristic point sequence to comprise:

Relatively whether the absolute value of the slope differences of the determined straight line of region-of-interest unique point is less than predetermined threshold; And

If the absolute value of slope differences less than predetermined threshold, then is divided into one group with described region-of-interest unique point.

24. according to claim 21 or 22 described methods, wherein, described match comprises single order fitting a straight line algorithm or luminance curve fitting algorithm.

25. an equipment that is used for the calibrating positioning device that is arranged in the space, wherein, the location point in this space is selected as the space characteristics point, and this equipment comprises:

Receiving trap is used to receive the relative coordinate of described space characteristics point with respect to described positioning equipment; And

Determine device, thereby be used for determining that according to described relative coordinate described positioning equipment demarcates described positioning equipment at the location parameter in described space.

26. equipment according to claim 25, wherein, the place is placed with the label that can launch distance measuring signal at described space characteristics point, and described relative coordinate is to utilize described positioning equipment to obtain according to the described distance measuring signal from label.

27. an equipment that is used for calibrating positioning device comprises:

Receiving trap is used for the receiving position point in the absolute coordinates in described space and the described location point relative coordinate with respect to described positioning equipment; And

Determine device, be used for determining the location parameter of described positioning equipment, thereby demarcate described positioning equipment in described space according to described absolute coordinates and described relative coordinate.

28. equipment according to claim 27, wherein,

Described location point is arranged in described positioning equipment and another positioning equipment of having demarcated overlapping covered, the place is placed with the label that can launch distance measuring signal at described location point, described relative coordinate is to utilize described positioning equipment to obtain according to the distance measuring signal from label, and described absolute coordinates is to utilize described another positioning equipment to obtain according to the distance measuring signal from label.

29. an equipment that is used for characterizing the region-of-interest in space comprises:

Receiving trap is used to receive the location parameter of the region-of-interest unique point that can characterize described region-of-interest, and wherein said location parameter is to utilize the positioning equipment that is arranged in the space to obtain; And

Characterization apparatus is used for characterizing described region-of-interest according to described location parameter.

30. equipment according to claim 29, wherein, when described region-of-interest is non-regular shape,

Described receiving trap further receives the location parameter of borderline at least three the region-of-interest unique points of region-of-interest, with the constitutive characteristic point sequence; And

Described characterization apparatus further comprises and is used for described characteristic point sequence is carried out the device that match characterizes region-of-interest.

31. equipment according to claim 30, wherein, the device that is used for described characteristic point sequence is carried out match comprises:

Be used for device that described characteristic point sequence is divided into groups; And

Be used for the device that match is assigned to same group described region-of-interest unique point.

32. equipment according to claim 31 wherein, is used for the device that described characteristic point sequence is divided into groups is comprised:

Whether the absolute value of slope differences that is used for the determined straight line of comparison region-of-interest unique point less than the device of predetermined threshold, and

If the absolute value that is used for slope differences less than predetermined threshold, then is divided into one group device with described region-of-interest unique point.

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